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<a href="#pub-types">Public 类型</a> &#124;
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<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::registration::CorrespondenceRejectorVarTrimmed类 参考</div>  </div>
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<p><code>#include &lt;<a class="el" href="correspondence__rejection__var__trimmed_8h_source.html">correspondence_rejection_var_trimmed.h</a>&gt;</code></p>
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类 pcl::registration::CorrespondenceRejectorVarTrimmed 继承关系图:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a455fa72a867aa737f5b34a1ed4247575"><td class="memItemLeft" align="right" valign="top"><a id="a455fa72a867aa737f5b34a1ed4247575"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html">CorrespondenceRejectorVarTrimmed</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a455fa72a867aa737f5b34a1ed4247575"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e153f08b12bf5d1af8869c0ee0a17e5"><td class="memItemLeft" align="right" valign="top"><a id="a2e153f08b12bf5d1af8869c0ee0a17e5"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html">CorrespondenceRejectorVarTrimmed</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a2e153f08b12bf5d1af8869c0ee0a17e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:a192578d5c6faa199b6137f7052ebe3bd inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a192578d5c6faa199b6137f7052ebe3bd"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a192578d5c6faa199b6137f7052ebe3bd inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a364a36b29c665856a1819d7a42cf5154 inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a364a36b29c665856a1819d7a42cf5154"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a364a36b29c665856a1819d7a42cf5154 inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a8e96a7a238246da80da7a81e86cf302e"><td class="memItemLeft" align="right" valign="top"><a id="a8e96a7a238246da80da7a81e86cf302e"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a8e96a7a238246da80da7a81e86cf302e">CorrespondenceRejectorVarTrimmed</a> ()</td></tr>
<tr class="memdesc:a8e96a7a238246da80da7a81e86cf302e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a8e96a7a238246da80da7a81e86cf302e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa36a022f0a8c6c1d4acb7a0fdb4ad7ff"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#aa36a022f0a8c6c1d4acb7a0fdb4ad7ff">getRemainingCorrespondences</a> (const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</td></tr>
<tr class="memdesc:aa36a022f0a8c6c1d4acb7a0fdb4ad7ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a list of valid correspondences after rejection from the original set of correspondences.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#aa36a022f0a8c6c1d4acb7a0fdb4ad7ff">更多...</a><br /></td></tr>
<tr class="separator:aa36a022f0a8c6c1d4acb7a0fdb4ad7ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a885e0228055dd4b03c31876b359d07fc"><td class="memItemLeft" align="right" valign="top"><a id="a885e0228055dd4b03c31876b359d07fc"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a885e0228055dd4b03c31876b359d07fc">getTrimmedDistance</a> () const</td></tr>
<tr class="memdesc:a885e0228055dd4b03c31876b359d07fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the trimmed distance used for thresholding in correspondence rejection. <br /></td></tr>
<tr class="separator:a885e0228055dd4b03c31876b359d07fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4ca7109dbc55e2f756926042848845f0"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a4ca7109dbc55e2f756926042848845f0"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a4ca7109dbc55e2f756926042848845f0">setInputSource</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a4ca7109dbc55e2f756926042848845f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
  <a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a4ca7109dbc55e2f756926042848845f0">更多...</a><br /></td></tr>
<tr class="separator:a4ca7109dbc55e2f756926042848845f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7435ede8b9d554f54ca7a7d804e87b6c"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a7435ede8b9d554f54ca7a7d804e87b6c"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a7435ede8b9d554f54ca7a7d804e87b6c">setInputCloud</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a7435ede8b9d554f54ca7a7d804e87b6c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
  <a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a7435ede8b9d554f54ca7a7d804e87b6c">更多...</a><br /></td></tr>
<tr class="separator:a7435ede8b9d554f54ca7a7d804e87b6c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a768519f1c0609230a67a511b8ca7dfa2"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a768519f1c0609230a67a511b8ca7dfa2"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a768519f1c0609230a67a511b8ca7dfa2">setInputTarget</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;target)</td></tr>
<tr class="memdesc:a768519f1c0609230a67a511b8ca7dfa2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
  <a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a768519f1c0609230a67a511b8ca7dfa2">更多...</a><br /></td></tr>
<tr class="separator:a768519f1c0609230a67a511b8ca7dfa2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad259c998cfa9e013b0a4cfbae161bd3a"><td class="memItemLeft" align="right" valign="top"><a id="ad259c998cfa9e013b0a4cfbae161bd3a"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ad259c998cfa9e013b0a4cfbae161bd3a">requiresSourcePoints</a> () const</td></tr>
<tr class="memdesc:ad259c998cfa9e013b0a4cfbae161bd3a"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires source points <br /></td></tr>
<tr class="separator:ad259c998cfa9e013b0a4cfbae161bd3a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a34d1652ebbffbde826f3ded38879dff5"><td class="memItemLeft" align="right" valign="top"><a id="a34d1652ebbffbde826f3ded38879dff5"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a34d1652ebbffbde826f3ded38879dff5">setSourcePoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</td></tr>
<tr class="memdesc:a34d1652ebbffbde826f3ded38879dff5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Blob method for setting the source cloud <br /></td></tr>
<tr class="separator:a34d1652ebbffbde826f3ded38879dff5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a630a841545363201467e938895b34ae5"><td class="memItemLeft" align="right" valign="top"><a id="a630a841545363201467e938895b34ae5"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a630a841545363201467e938895b34ae5">requiresTargetPoints</a> () const</td></tr>
<tr class="memdesc:a630a841545363201467e938895b34ae5"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires a target cloud <br /></td></tr>
<tr class="separator:a630a841545363201467e938895b34ae5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a2080e03a6d5175c421d7e3de6d7be4"><td class="memItemLeft" align="right" valign="top"><a id="a3a2080e03a6d5175c421d7e3de6d7be4"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a3a2080e03a6d5175c421d7e3de6d7be4">setTargetPoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</td></tr>
<tr class="memdesc:a3a2080e03a6d5175c421d7e3de6d7be4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Method for setting the target cloud <br /></td></tr>
<tr class="separator:a3a2080e03a6d5175c421d7e3de6d7be4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a11ca79fdc9c6b7a0d0ec76c8cb0b9e78"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a11ca79fdc9c6b7a0d0ec76c8cb0b9e78"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a11ca79fdc9c6b7a0d0ec76c8cb0b9e78">setSearchMethodTarget</a> (const boost::shared_ptr&lt; <a class="el" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &amp;tree, bool force_no_recompute=false)</td></tr>
<tr class="memdesc:a11ca79fdc9c6b7a0d0ec76c8cb0b9e78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the search object used to find correspondences in the target cloud.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a11ca79fdc9c6b7a0d0ec76c8cb0b9e78">更多...</a><br /></td></tr>
<tr class="separator:a11ca79fdc9c6b7a0d0ec76c8cb0b9e78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af81b865c61d139559b6430442248489e"><td class="memItemLeft" align="right" valign="top"><a id="af81b865c61d139559b6430442248489e"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#af81b865c61d139559b6430442248489e">getTrimFactor</a> () const</td></tr>
<tr class="memdesc:af81b865c61d139559b6430442248489e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the computed inlier ratio used for thresholding in correspondence rejection. <br /></td></tr>
<tr class="separator:af81b865c61d139559b6430442248489e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8b8dc2aa5d21c45261b5c34459710bd7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a8b8dc2aa5d21c45261b5c34459710bd7">setMinRatio</a> (double ratio)</td></tr>
<tr class="separator:a8b8dc2aa5d21c45261b5c34459710bd7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ace1fc4f60f4ea91284f5521c96bfaddb"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ace1fc4f60f4ea91284f5521c96bfaddb">getMinRatio</a> () const</td></tr>
<tr class="separator:ace1fc4f60f4ea91284f5521c96bfaddb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e11ee722ae8bf9209287bff226b190d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a2e11ee722ae8bf9209287bff226b190d">setMaxRatio</a> (double ratio)</td></tr>
<tr class="separator:a2e11ee722ae8bf9209287bff226b190d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a58a15db44f0c237416524d73226b55cf"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a58a15db44f0c237416524d73226b55cf">getMaxRatio</a> () const</td></tr>
<tr class="separator:a58a15db44f0c237416524d73226b55cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:aece0e22dd156eaacff20b45069036483 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="aece0e22dd156eaacff20b45069036483"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aece0e22dd156eaacff20b45069036483">CorrespondenceRejector</a> ()</td></tr>
<tr class="memdesc:aece0e22dd156eaacff20b45069036483 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a6cbaada1584e194daaad3fd0c2d4aee8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a6cbaada1584e194daaad3fd0c2d4aee8"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6cbaada1584e194daaad3fd0c2d4aee8">~CorrespondenceRejector</a> ()</td></tr>
<tr class="memdesc:a6cbaada1584e194daaad3fd0c2d4aee8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor. <br /></td></tr>
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<tr class="memitem:af69c08f02cc1a3f69920f73f1664f0d8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#af69c08f02cc1a3f69920f73f1664f0d8">setInputCorrespondences</a> (const CorrespondencesConstPtr &amp;correspondences)</td></tr>
<tr class="memdesc:af69c08f02cc1a3f69920f73f1664f0d8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of the input correspondences.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#af69c08f02cc1a3f69920f73f1664f0d8">更多...</a><br /></td></tr>
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<tr class="memitem:ae43d54dc28964e8df4ab05b74c3b7135 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ae43d54dc28964e8df4ab05b74c3b7135">getInputCorrespondences</a> ()</td></tr>
<tr class="memdesc:ae43d54dc28964e8df4ab05b74c3b7135 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of the input correspondences.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#ae43d54dc28964e8df4ab05b74c3b7135">更多...</a><br /></td></tr>
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<tr class="memitem:a72c90f3fb93739b0366d3528cf7d502f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a72c90f3fb93739b0366d3528cf7d502f">getCorrespondences</a> (pcl::Correspondences &amp;correspondences)</td></tr>
<tr class="memdesc:a72c90f3fb93739b0366d3528cf7d502f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run correspondence rejection  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a72c90f3fb93739b0366d3528cf7d502f">更多...</a><br /></td></tr>
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<tr class="memitem:a6a1c8dff3bcce8f99ec98b9982838ffc inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6a1c8dff3bcce8f99ec98b9982838ffc">getRejectedQueryIndices</a> (const pcl::Correspondences &amp;correspondences, std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a6a1c8dff3bcce8f99ec98b9982838ffc inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via <em>setInputCorrespondences</em>) and the given correspondence vector.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6a1c8dff3bcce8f99ec98b9982838ffc">更多...</a><br /></td></tr>
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<tr class="memitem:aa5996af869d7aaa6b8b8dc156038dd3f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="aa5996af869d7aaa6b8b8dc156038dd3f"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> () const</td></tr>
<tr class="memdesc:aa5996af869d7aaa6b8b8dc156038dd3f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
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<tr class="memitem:a08f07ed59490ee2c5d01a99d5589e306 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a08f07ed59490ee2c5d01a99d5589e306"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a08f07ed59490ee2c5d01a99d5589e306">requiresSourceNormals</a> () const</td></tr>
<tr class="memdesc:a08f07ed59490ee2c5d01a99d5589e306 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires source normals <br /></td></tr>
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<tr class="memitem:a2f61f392a8d0c3da5502949cb22bba7d inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a2f61f392a8d0c3da5502949cb22bba7d"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a2f61f392a8d0c3da5502949cb22bba7d">setSourceNormals</a> (pcl::PCLPointCloud2::ConstPtr)</td></tr>
<tr class="memdesc:a2f61f392a8d0c3da5502949cb22bba7d inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract method for setting the source normals <br /></td></tr>
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<tr class="memitem:ab3afeffa725f643d1ebc3c0545ea05be inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="ab3afeffa725f643d1ebc3c0545ea05be"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab3afeffa725f643d1ebc3c0545ea05be">requiresTargetNormals</a> () const</td></tr>
<tr class="memdesc:ab3afeffa725f643d1ebc3c0545ea05be inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires target normals <br /></td></tr>
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<tr class="memitem:a4bbb67f5066c674eba95b440bb4fd03a inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a4bbb67f5066c674eba95b440bb4fd03a"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a4bbb67f5066c674eba95b440bb4fd03a">setTargetNormals</a> (pcl::PCLPointCloud2::ConstPtr)</td></tr>
<tr class="memdesc:a4bbb67f5066c674eba95b440bb4fd03a inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract method for setting the target normals <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected 类型</h2></td></tr>
<tr class="memitem:aac7a0beb9c388fea32981d7ed78922ed"><td class="memItemLeft" align="right" valign="top"><a id="aac7a0beb9c388fea32981d7ed78922ed"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_data_container_interface.html">DataContainerInterface</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>DataContainerPtr</b></td></tr>
<tr class="separator:aac7a0beb9c388fea32981d7ed78922ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a52e4fa13fcbe9baa5150d26d885ef01d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a52e4fa13fcbe9baa5150d26d885ef01d">applyRejection</a> (pcl::Correspondences &amp;correspondences)</td></tr>
<tr class="memdesc:a52e4fa13fcbe9baa5150d26d885ef01d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply the rejection algorithm.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a52e4fa13fcbe9baa5150d26d885ef01d">更多...</a><br /></td></tr>
<tr class="separator:a52e4fa13fcbe9baa5150d26d885ef01d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a3dd49ee1682eb902c18ad1561ce3effe"><td class="memItemLeft" align="right" valign="top"><a id="a3dd49ee1682eb902c18ad1561ce3effe"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a3dd49ee1682eb902c18ad1561ce3effe">trimmed_distance_</a></td></tr>
<tr class="memdesc:a3dd49ee1682eb902c18ad1561ce3effe"><td class="mdescLeft">&#160;</td><td class="mdescRight">The inlier distance threshold (based on the computed trim factor) between two correspondent points in source &lt;-&gt; target. <br /></td></tr>
<tr class="separator:a3dd49ee1682eb902c18ad1561ce3effe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae1c3c2aadf9aa1340170437a12984992"><td class="memItemLeft" align="right" valign="top"><a id="ae1c3c2aadf9aa1340170437a12984992"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ae1c3c2aadf9aa1340170437a12984992">factor_</a></td></tr>
<tr class="memdesc:ae1c3c2aadf9aa1340170437a12984992"><td class="mdescLeft">&#160;</td><td class="mdescRight">The factor for correspondence rejection. Only factor times the total points sorted based on the correspondence distances will be considered as inliers. Remaining points are rejected. This factor is computed internally <br /></td></tr>
<tr class="separator:ae1c3c2aadf9aa1340170437a12984992"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad2e752e2972807ab36185a884fb6b82b"><td class="memItemLeft" align="right" valign="top"><a id="ad2e752e2972807ab36185a884fb6b82b"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ad2e752e2972807ab36185a884fb6b82b">min_ratio_</a></td></tr>
<tr class="memdesc:ad2e752e2972807ab36185a884fb6b82b"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum overlap ratio between the input and target clouds <br /></td></tr>
<tr class="separator:ad2e752e2972807ab36185a884fb6b82b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7fa2ade8ca0c16f3144f3400e512960"><td class="memItemLeft" align="right" valign="top"><a id="af7fa2ade8ca0c16f3144f3400e512960"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#af7fa2ade8ca0c16f3144f3400e512960">max_ratio_</a></td></tr>
<tr class="memdesc:af7fa2ade8ca0c16f3144f3400e512960"><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum overlap ratio between the input and target clouds <br /></td></tr>
<tr class="separator:af7fa2ade8ca0c16f3144f3400e512960"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa5312fa7f146e322b2a7e6be5f9f37d2"><td class="memItemLeft" align="right" valign="top"><a id="aa5312fa7f146e322b2a7e6be5f9f37d2"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#aa5312fa7f146e322b2a7e6be5f9f37d2">lambda_</a></td></tr>
<tr class="memdesc:aa5312fa7f146e322b2a7e6be5f9f37d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">part of the term that balances the root mean square difference. This is an internal parameter <br /></td></tr>
<tr class="separator:aa5312fa7f146e322b2a7e6be5f9f37d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9289d41d203b3ea83e411012019e3814"><td class="memItemLeft" align="right" valign="top"><a id="a9289d41d203b3ea83e411012019e3814"></a>
DataContainerPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">data_container_</a></td></tr>
<tr class="memdesc:a9289d41d203b3ea83e411012019e3814"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the <a class="el" href="classpcl_1_1registration_1_1_data_container.html">DataContainer</a> object containing the input and target point clouds <br /></td></tr>
<tr class="separator:a9289d41d203b3ea83e411012019e3814"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:ab97eb70d3661574301fe1f978576726d inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="ab97eb70d3661574301fe1f978576726d"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a></td></tr>
<tr class="memdesc:ab97eb70d3661574301fe1f978576726d inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">The name of the rejection method. <br /></td></tr>
<tr class="separator:ab97eb70d3661574301fe1f978576726d inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a74d516ca516f7421fd86a53dec1a57b1 inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a74d516ca516f7421fd86a53dec1a57b1"></a>
CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a></td></tr>
<tr class="memdesc:a74d516ca516f7421fd86a53dec1a57b1 inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input correspondences. <br /></td></tr>
<tr class="separator:a74d516ca516f7421fd86a53dec1a57b1 inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:a0981c8b9b5e0c483f4822293cf70df1e"><td class="memItemLeft" align="right" valign="top"><a id="a0981c8b9b5e0c483f4822293cf70df1e"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a0981c8b9b5e0c483f4822293cf70df1e">optimizeInlierRatio</a> (std::vector&lt; double &gt; &amp;dists)</td></tr>
<tr class="memdesc:a0981c8b9b5e0c483f4822293cf70df1e"><td class="mdescLeft">&#160;</td><td class="mdescRight">finds the optimal inlier ratio. This is based on the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al' <br /></td></tr>
<tr class="separator:a0981c8b9b5e0c483f4822293cf70df1e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="memItemLeft" align="right" valign="top"><a id="aa5996af869d7aaa6b8b8dc156038dd3f"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> () const</td></tr>
<tr class="memdesc:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a74d516ca516f7421fd86a53dec1a57b1"><td class="memItemLeft" align="right" valign="top"><a id="a74d516ca516f7421fd86a53dec1a57b1"></a>
CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a></td></tr>
<tr class="memdesc:a74d516ca516f7421fd86a53dec1a57b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input correspondences. <br /></td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a></td></tr>
<tr class="memdesc:ab97eb70d3661574301fe1f978576726d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The name of the rejection method. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><b>CorrespondenceRejectoVarTrimmed</b> implements a simple correspondence rejection method by considering as inliers a certain percentage of correspondences with the least distances. The percentage of inliers is computed internally as mentioned in the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al'</p>
<dl class="section note"><dt>注解</dt><dd>If <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a7435ede8b9d554f54ca7a7d804e87b6c">setInputCloud</a> and <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a768519f1c0609230a67a511b8ca7dfa2">setInputTarget</a> are given, then the distances between correspondences will be estimated using the given XYZ data, and not read from the set of input correspondences.</dd></dl>
<dl class="section author"><dt>作者</dt><dd>Aravindhan K Krishnan. This code is ported from libpointmatcher (<a href="https://github.com/ethz-asl/libpointmatcher">https://github.com/ethz-asl/libpointmatcher</a>) </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a52e4fa13fcbe9baa5150d26d885ef01d">&#9670;&nbsp;</a></span>applyRejection()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorVarTrimmed::applyRejection </td>
          <td>(</td>
          <td class="paramtype">pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em></td><td>)</td>
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<p>Apply the rejection algorithm. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[out]</td><td class="paramname">correspondences</td><td>the set of resultant correspondences. </td></tr>
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<p>实现了 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a60dbdcf8f1005a1405dcab244a5c5608">pcl::registration::CorrespondenceRejector</a>.</p>
<div class="fragment"><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#aa36a022f0a8c6c1d4acb7a0fdb4ad7ff">getRemainingCorrespondences</a> (*<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a>, correspondences);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a74d516ca516f7421fd86a53dec1a57b1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a74d516ca516f7421fd86a53dec1a57b1">pcl::registration::CorrespondenceRejectorVarTrimmed::input_correspondences_</a></div><div class="ttdeci">CorrespondencesConstPtr input_correspondences_</div><div class="ttdoc">The input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_aa36a022f0a8c6c1d4acb7a0fdb4ad7ff"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#aa36a022f0a8c6c1d4acb7a0fdb4ad7ff">pcl::registration::CorrespondenceRejectorVarTrimmed::getRemainingCorrespondences</a></div><div class="ttdeci">void getRemainingCorrespondences(const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</div><div class="ttdoc">Get a list of valid correspondences after rejection from the original set of correspondences.</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a58a15db44f0c237416524d73226b55cf">&#9670;&nbsp;</a></span>getMaxRatio()</h2>

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<p>brief get the maximum overlap ratio </p>
<div class="fragment"><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#af7fa2ade8ca0c16f3144f3400e512960">max_ratio_</a>; }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_af7fa2ade8ca0c16f3144f3400e512960"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#af7fa2ade8ca0c16f3144f3400e512960">pcl::registration::CorrespondenceRejectorVarTrimmed::max_ratio_</a></div><div class="ttdeci">double max_ratio_</div><div class="ttdoc">The maximum overlap ratio between the input and target clouds</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:233</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ace1fc4f60f4ea91284f5521c96bfaddb">&#9670;&nbsp;</a></span>getMinRatio()</h2>

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<p>brief get the minimum overlap ratio </p>
<div class="fragment"><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ad2e752e2972807ab36185a884fb6b82b">min_ratio_</a>; }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_ad2e752e2972807ab36185a884fb6b82b"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ad2e752e2972807ab36185a884fb6b82b">pcl::registration::CorrespondenceRejectorVarTrimmed::min_ratio_</a></div><div class="ttdeci">double min_ratio_</div><div class="ttdoc">The minimum overlap ratio between the input and target clouds</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:229</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa36a022f0a8c6c1d4acb7a0fdb4ad7ff">&#9670;&nbsp;</a></span>getRemainingCorrespondences()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorVarTrimmed::getRemainingCorrespondences </td>
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          <td class="paramname"><em>original_correspondences</em>, </td>
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<p>Get a list of valid correspondences after rejection from the original set of correspondences. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">original_correspondences</td><td>the set of initial correspondences given </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">remaining_correspondences</td><td>the resultant filtered set of remaining correspondences </td></tr>
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<p>实现了 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a42fe3fe1efc3275e78833200bce2027e">pcl::registration::CorrespondenceRejector</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7435ede8b9d554f54ca7a7d804e87b6c">&#9670;&nbsp;</a></span>setInputCloud()</h2>

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          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;&#160;</td>
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<p>Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
 </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>a cloud containing XYZ data </td></tr>
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<div class="fragment"><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">data_container_</a>)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">data_container_</a>.reset (<span class="keyword">new</span> DataContainer&lt;PointT&gt;);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          boost::static_pointer_cast&lt;DataContainer&lt;PointT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">data_container_</a>)-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a4ca7109dbc55e2f756926042848845f0">setInputSource</a> (cloud);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a4ca7109dbc55e2f756926042848845f0"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a4ca7109dbc55e2f756926042848845f0">pcl::registration::CorrespondenceRejectorVarTrimmed::setInputSource</a></div><div class="ttdeci">void setInputSource(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a9289d41d203b3ea83e411012019e3814"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">pcl::registration::CorrespondenceRejectorVarTrimmed::data_container_</a></div><div class="ttdeci">DataContainerPtr data_container_</div><div class="ttdoc">A pointer to the DataContainer object containing the input and target point clouds</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_aa5996af869d7aaa6b8b8dc156038dd3f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#aa5996af869d7aaa6b8b8dc156038dd3f">pcl::registration::CorrespondenceRejectorVarTrimmed::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:135</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a4ca7109dbc55e2f756926042848845f0">&#9670;&nbsp;</a></span>setInputSource()</h2>

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<p>Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
 </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>a cloud containing XYZ data </td></tr>
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<div class="fragment"><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">data_container_</a>)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">data_container_</a>.reset (<span class="keyword">new</span> DataContainer&lt;PointT&gt;);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          boost::static_pointer_cast&lt;DataContainer&lt;PointT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">data_container_</a>)-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a4ca7109dbc55e2f756926042848845f0">setInputSource</a> (cloud);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a768519f1c0609230a67a511b8ca7dfa2">&#9670;&nbsp;</a></span>setInputTarget()</h2>

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<p>Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
 </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">target</td><td>a cloud containing XYZ data </td></tr>
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<div class="fragment"><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">data_container_</a>)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">data_container_</a>.reset (<span class="keyword">new</span> DataContainer&lt;PointT&gt;);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          boost::static_pointer_cast&lt;DataContainer&lt;PointT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">data_container_</a>)-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a768519f1c0609230a67a511b8ca7dfa2">setInputTarget</a> (target);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2e11ee722ae8bf9209287bff226b190d">&#9670;&nbsp;</a></span>setMaxRatio()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorVarTrimmed::setMaxRatio </td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>ratio</em></td><td>)</td>
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<p>brief set the maximum overlap ratio </p><dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">ratio</td><td>the overlap ratio [0..1] </td></tr>
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<div class="fragment"><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;{ <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#af7fa2ade8ca0c16f3144f3400e512960">max_ratio_</a> = ratio; }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8b8dc2aa5d21c45261b5c34459710bd7">&#9670;&nbsp;</a></span>setMinRatio()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorVarTrimmed::setMinRatio </td>
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          <td class="paramname"><em>ratio</em></td><td>)</td>
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<p>brief set the minimum overlap ratio </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">ratio</td><td>the overlap ratio [0..1] </td></tr>
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<div class="fragment"><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;{ <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ad2e752e2972807ab36185a884fb6b82b">min_ratio_</a> = ratio; }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a11ca79fdc9c6b7a0d0ec76c8cb0b9e78">&#9670;&nbsp;</a></span>setSearchMethodTarget()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">void pcl::registration::CorrespondenceRejectorVarTrimmed::setSearchMethodTarget </td>
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          <td class="paramtype">const boost::shared_ptr&lt; <a class="el" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>tree</em>, </td>
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<p>Provide a pointer to the search object used to find correspondences in the target cloud. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">tree</td><td>a pointer to the spatial search object. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">force_no_recompute</td><td>If set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly. </td></tr>
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<div class="fragment"><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        { </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          boost::static_pointer_cast&lt; DataContainer&lt;PointT&gt; &gt; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;            (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">data_container_</a>)-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a11ca79fdc9c6b7a0d0ec76c8cb0b9e78">setSearchMethodTarget</a> (tree, force_no_recompute );</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a11ca79fdc9c6b7a0d0ec76c8cb0b9e78"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a11ca79fdc9c6b7a0d0ec76c8cb0b9e78">pcl::registration::CorrespondenceRejectorVarTrimmed::setSearchMethodTarget</a></div><div class="ttdeci">void setSearchMethodTarget(const boost::shared_ptr&lt; pcl::search::KdTree&lt; PointT &gt; &gt; &amp;tree, bool force_no_recompute=false)</div><div class="ttdoc">Provide a pointer to the search object used to find correspondences in the target cloud.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:173</div></div>
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<li>registration/include/pcl/registration/<a class="el" href="correspondence__rejection__var__trimmed_8h_source.html">correspondence_rejection_var_trimmed.h</a></li>
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